StockInfo.cs
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using PUSICANLibrary;
using System;
using System.Collections.Generic;
using System.Threading;
using TSA_V.Common;
using TSA_V.LoadCSVLibrary;
namespace TSA_V.DeviceLibrary
{
/// <summary>
/// 备料信息
/// </summary>
public class StockInfo
{
/// <summary>
/// 是否在工作中，在插件中，会接受信号移动位置
/// </summary>
public bool IsWorking = false;
public TSAVPosition currPosition = null;
public bool IsWaitMove = false;
public List<WaitResultInfo> waitList = new List<WaitResultInfo>();
public DateTime endWorkTime = DateTime.Now;
public DateTime LastSetpTime = DateTime.Now;
public uint PreNodeId = 0;
private List<int> PreRgbLed = new List<int>();
public void StartWork()
{
//开始工作
IsWorking = true;
endWorkTime = DateTime.Now;
IsWaitMove = false;
}
public void StopWork()
{
PUSICANControl.StopMove(PreNodeId);
//把上次的旋转轴转回待机点
if (PreNodeId > 0)
{
//上一个节点返回原点
PUSICANControl.AbsMove(PreNodeId, TSAVBean.RotateNode_DefaultPosition);
}
if (PreLabel != null)
{
LedLabelController.CloseLed(PreLabel.ip, PreLabel.mac);
}
if (PreRgbLed.Count > 0)
{
RgbLedController.CloseAll();
}
Thread.Sleep(500);
endWorkTime = DateTime.Now;
IsWorking = false;
IsWaitMove = false;
}
public void EndWait()
{
endWorkTime = DateTime.Now;
IsWaitMove = false;
waitList = new List<WaitResultInfo>();
}
private LabelInfo PreLabel = null;
public void MoveToBag(TSAVPosition position, ComponetInfo componet)
{
try
{
currPosition = position;
waitList = new List<WaitResultInfo>();
IsWaitMove = true;
LastSetpTime = DateTime.Now;
if (PreLabel != null)
{
LedLabelController.CloseLed(PreLabel.ip, PreLabel.mac);
Thread.Sleep(300);
}
if (PreRgbLed.Count > 0)
{
RgbLedController.CloseAll();
}
if (position.IsNodePos())
{
NodeInfo moveNode = position.GetNode(TSAVBean.RotateMap);
if (moveNode != null)
{
if (PreNodeId > 0 && !(moveNode.NodeId.Equals(PreNodeId)))
{
//上一个节点返回原点
PUSICANControl.AbsMove(PreNodeId, TSAVBean.RotateNode_DefaultPosition);
Thread.Sleep(50);
}
PUSICANControl.AbsMove(moveNode.NodeId, position.RotatePosition);
waitList.Add(WaitResultInfo.WaitNode(moveNode, position.RotatePosition));
PreNodeId = moveNode.NodeId;
}
else
{
LogUtil.error("positionNum=" + position.PositionNum + ",未找到对应的运动轴！");
}
}
else if (position.IsLedLabel())
{
if (PreNodeId > 0)
{
PUSICANControl.AbsMove(PreNodeId, TSAVBean.RotateNode_DefaultPosition);
}
PreNodeId = 0;
LabelInfo label = LedLabelController.GetLabel(position, componet, true);
LedLabelController.UpdateScreen(label);
PreLabel = label;
}
else if (position.IsRgbLed())
{
if (PreNodeId > 0)
{
PUSICANControl.AbsMove(PreNodeId, TSAVBean.RotateNode_DefaultPosition);
}
PreNodeId = 0;
RgbLedController.OpenPosLed(position);
PreRgbLed = position.getLedList();
waitList.Add(WaitResultInfo.WaitTime(500));
}
}
catch (Exception ex)
{
LogUtil.error("MoveToBag 出错：" + ex.ToString());
}
}
}
}